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Update ESP32 firmware roadmap - focus on hardware development

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- Restructured roadmap to focus on ESP32 firmware development only
- Removed time constraints from all development phases
- Clarified data flow: ESP32 streams to webapp, webapp handles all logging
- Updated deliverables: firmware components, hardware integration, OLED support
- Removed PC software and web visualization phases (handled by separate webapp)
- Updated success criteria for ESP32 firmware performance metrics
- Updated dev notes to reflect webapp integration architecture
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martin 2025-08-20 16:07:39 +02:00
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13
CLAUDE.md
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@ -35,8 +35,8 @@ pio device monitor
### Device Roles & Communication Flow ### Device Roles & Communication Flow
``` ```
Anchors: Auto-position ’ Store coordinates locally ’ Report to tags Anchors: Auto-position <EFBFBD> Store coordinates locally <20> Report to tags
Tags: Range to anchors ’ Collect coordinates ’ USB to PC ’ Real-time + logging Tags: Range to anchors <EFBFBD> Collect coordinates <20> USB to PC <20> Real-time + logging
``` ```
### Key Technical Patterns ### Key Technical Patterns
@ -86,10 +86,11 @@ Key values in config.h:
## Development Roadmap Context ## Development Roadmap Context
This system implements **Phase 1** of a 5-phase indoor positioning project (see docs/ROADMAP.md): This ESP32 firmware implements the hardware foundation for the UWB positioning system (see docs/ROADMAP.md):
- **Current**: Basic anchor-tag ranging with USB data collection - **Current**: Basic anchor-tag ranging with USB data streaming via UWBHelper library
- **Next**: Anchor auto-positioning, dual-file logging, PC software, web visualization - **Next**: Anchor auto-positioning, coordinate relay through tag, battery optimization
- **Goal**: <15min warehouse setup, <30cm accuracy, real-time + offline analysis - **Goal**: <15min anchor setup, <30cm ranging accuracy, reliable USB data streaming to webapp
- **WebApp Integration**: All data logging, visualization, and analysis handled by separate Next.js webapp
## Hardware Requirements ## Hardware Requirements

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docs/ROADMAP.md
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@ -1,15 +1,15 @@
# Indoor Positioning System Roadmap # ESP32 UWB Hardware Roadmap
**MaUWB ESP32-S3 Warehouse Positioning & WiFi Mapping System** **MaUWB ESP32-S3 Ultra-Wideband Indoor Positioning System**
--- ---
## 🎯 Project Overview ## 🎯 Project Overview
**Purpose**: Indoor positioning system for warehouse WiFi strength mapping **Purpose**: ESP32-S3 firmware for Ultra-Wideband indoor positioning hardware
- **Hardware**: 1 mobile tag + 8+ battery-powered anchors - **Hardware**: 1 mobile tag + 8+ battery-powered anchors (Makerfabs MaUWB)
- **Connectivity**: Tag connects to PC via USB, anchors are wireless-only - **Connectivity**: Tag streams to PC via USB, anchors are battery-powered wireless
- **Constraint**: Tag connects to 8 closest anchors (auto-switching) - **Network**: Tag connects to 8 closest anchors with automatic switching
- **Goal**: Quick installation (<15 min) with automatic anchor positioning - **Goal**: Reliable UWB ranging with anchor auto-positioning and real-time data streaming
--- ---
@ -36,24 +36,22 @@
``` ```
Anchors (Battery) → Auto-Position Calibration → Store Coordinates Locally Anchors (Battery) → Auto-Position Calibration → Store Coordinates Locally
↓ ↓
Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-time Display Tag (Mobile) → Collect Raw Data + Anchor Coordinates → USB Stream → WebApp
↓ ↓ ↓
Two Log Files Live Position View Real-time Display
↓ + Data Logging
Web Application + Path Analysis
(Load both files)
``` ```
### Critical Problem Solved ### Critical Problem Solved
**Challenge**: How do battery-powered anchors transmit calibrated positions to PC? **Challenge**: How do battery-powered anchors transmit calibrated positions to PC?
**Solution**: Dual-file approach - Tag logs raw positioning data + anchor coordinates separately, webapp loads both files for offline processing **Solution**: Tag acts as data relay - collects anchor coordinates and streams all data via USB to webapp for processing, logging, and visualization
--- ---
## 🚀 Implementation Roadmap ## 🚀 ESP32 Firmware Development Roadmap
### Phase 1: Anchor Auto-Positioning System ### Phase 1: Anchor Auto-Positioning System
**Duration**: 2-3 weeks
#### 1.1 Distributed Positioning Algorithm #### 1.1 Distributed Positioning Algorithm
- [ ] **Anchor Discovery Protocol** - [ ] **Anchor Discovery Protocol**
@ -88,7 +86,6 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
- Error detection and correction - Error detection and correction
### Phase 2: Tag Data Relay System ### Phase 2: Tag Data Relay System
**Duration**: 2 weeks
#### 2.1 Enhanced Tag Functionality #### 2.1 Enhanced Tag Functionality
- [ ] **Anchor Discovery & Connection** - [ ] **Anchor Discovery & Connection**
@ -106,93 +103,49 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
- Maintain position continuity during anchor handoffs - Maintain position continuity during anchor handoffs
- Implement position smoothing/filtering - Implement position smoothing/filtering
#### 2.2 Tag Data Logging System #### 2.2 USB Data Streaming System
- [ ] **Dual-File Logging** - [ ] **Real-time Data Stream**
- **File 1**: Raw positioning data (distances, RSSI, timestamps) - Stream raw positioning data via USB (AT+RANGE format)
- **File 2**: Anchor coordinates database (collected from connected anchors) - Include anchor coordinates in data stream when available
- USB transfer to PC for both files - Maintain backward compatibility with current UWBHelper parsing
- [ ] **Data Collection Protocol** - [ ] **Data Collection Protocol**
- Request anchor coordinates: "Send me your calibrated position" - Request anchor coordinates: "Send me your calibrated position"
- Anchor responds: {anchor_id, x, y, calibration_confidence} - Anchor responds: {anchor_id, x, y, calibration_confidence}
- Store coordinates locally and update anchor database file - Forward anchor data immediately via USB to webapp
- Continue logging raw positioning data as current system does - No local file storage - webapp handles all logging
### Phase 3: PC Software Development ### Phase 3: System Integration & Optimization
**Duration**: 2 weeks
#### 3.1 Real-time PC Application #### 3.1 Quick Installation Workflow
- [ ] **USB Communication & Live Display**
- Receive real-time data stream from tag via USB
- Parse incoming data: raw distances + anchor coordinates
- Calculate live tag position using anchor coordinates
- Display real-time position on 2D map
- [ ] **Live Monitoring Features**
- Show current tag position with live updates
- Display connected anchors and their positions
- Real-time signal strength indicators
- Live path tracking during mapping session
#### 3.2 Dual-File Logging (Background)
- [ ] **Simultaneous Data Logging**
- **raw_positioning.csv**: Tag positioning data (distances, RSSI, timestamps)
- **anchor_coordinates.csv**: Anchor position database
- Log files generated automatically during real-time session
- Export files for webapp analysis after session
- [ ] **Data Validation**
- Verify file integrity and format
- Check timestamp consistency
- Validate anchor coordinate data
### Phase 4: Web Visualization Application
**Duration**: 2-3 weeks
#### 4.1 Core Web Interface
- [ ] **Dual-File Upload & Processing**
- Upload **raw_positioning.csv** and **anchor_coordinates.csv**
- Parse and correlate both datasets
- Data validation and error handling
- Calculate actual tag positions using raw data + anchor coordinates
- [ ] **2D Warehouse Visualization**
- Display anchor positions from coordinates file
- Calculate and plot tag path using positioning algorithm
- Interactive warehouse floor plan with scalable coordinate system
#### 4.2 Path Analysis Features
- [ ] **Path Tracking Visualization**
- Tag movement path overlay
- Timeline scrubbing and playback
- Speed and direction indicators
- [ ] **Data Analysis Tools**
- Path statistics and metrics
- Export functionality (images, reports)
- Comparison between multiple mapping sessions
### Phase 5: System Integration & Optimization
**Duration**: 1-2 weeks
#### 5.1 Quick Installation Workflow
- [ ] **Automated Setup Process** - [ ] **Automated Setup Process**
- Power-on all anchors simultaneously - Power-on all anchors simultaneously
- Auto-discovery and network formation - Auto-discovery and network formation
- Position calibration and verification - Position calibration and verification
- Tag pairing and PC connection setup - Tag pairing and webapp connection setup
- Target: Ready-to-use in <15 minutes - Target: Ready-to-use in <15 minutes
#### 5.2 System Validation #### 3.2 Performance Optimization
- [ ] **Battery Life Optimization**
- Optimize anchor power consumption
- Implement sleep modes when possible
- Efficient UWB communication protocols
- [ ] **Data Transmission Efficiency**
- Optimize AT command responses
- Minimize USB data bandwidth usage
- Ensure reliable anchor coordinate transmission
#### 3.3 System Validation
- [ ] **Accuracy Testing** - [ ] **Accuracy Testing**
- Position accuracy validation - Position accuracy validation
- Anchor auto-positioning verification - Anchor auto-positioning verification
- End-to-end system testing - End-to-end ESP32 system testing
- [ ] **Performance Optimization** - [ ] **Hardware Integration**
- Battery life optimization for anchors - OLED display optimization
- Data transmission efficiency - UWB module reset and recovery
- Real-time performance tuning - Serial communication stability
--- ---
@ -220,36 +173,39 @@ Tag (Mobile) → Collect Raw Data + Anchor Coordinates → PC (USB) → Real-tim
--- ---
## 📦 Deliverables ## 📦 ESP32 Firmware Deliverables
### Software Components ### Firmware Components
- [ ] **Enhanced Anchor Firmware** - Auto-positioning and data storage - [ ] **Enhanced Anchor Firmware** - Auto-positioning, coordinate storage, inter-anchor communication
- [ ] **Enhanced Tag Firmware** - Data relay and USB communication - [ ] **Enhanced Tag Firmware** - Data relay, anchor coordinate collection, USB streaming
- [ ] **PC Data Collection Software** - USB interface and logging - [ ] **UWBHelper Library** - Complete AT command implementation with positioning support
- [ ] **Web Visualization Application** - Path analysis and mapping - [ ] **Configuration Management** - Network setup, device roles, calibration storage
### Hardware Integration
- [ ] **OLED Display Support** - Real-time status, anchor/tag information, connection indicators
- [ ] **Reset & Recovery** - UWB module reset handling, error recovery protocols
- [ ] **Power Management** - Battery optimization for anchors, USB power for tags
- [ ] **Serial Communication** - Robust USB streaming, AT command processing
### Documentation ### Documentation
- [ ] **Installation Guide** - Quick setup procedures - [ ] **Firmware Installation Guide** - PlatformIO build and flash procedures
- [ ] **User Manual** - Operation and troubleshooting - [ ] **AT Command Reference** - Complete UWBHelper API documentation
- [ ] **Technical Documentation** - API and protocol specifications - [ ] **Hardware Setup Guide** - Pin configurations, OLED connections, reset procedures
- [ ] **Calibration Procedures** - System validation and accuracy testing - [ ] **Calibration Procedures** - Anchor positioning, system validation, accuracy testing
### Test Results ### Validation & Testing
- [ ] **Positioning Accuracy Report** - Performance metrics - [ ] **Positioning Accuracy Report** - ESP32 ranging performance metrics
- [ ] **Battery Life Analysis** - Power consumption data - [ ] **Battery Life Analysis** - Anchor power consumption data
- [ ] **Installation Time Study** - Setup procedure validation - [ ] **Communication Reliability** - USB streaming stability, AT command response times
--- ---
## 🔄 Success Criteria ## 🔄 ESP32 Firmware Success Criteria
1. **Installation Time**: Complete system setup in <15 minutes 1. **Quick Setup**: Anchor auto-positioning completes in <15 minutes
2. **Positioning Accuracy**: <30cm accuracy in warehouse environment 2. **Ranging Accuracy**: <30cm UWB distance measurement accuracy
3. **Battery Life**: Anchors operate >8 hours on single charge 3. **Battery Life**: Anchors operate >8 hours on single battery charge
4. **System Reliability**: 99%+ uptime during mapping sessions 4. **Communication Reliability**: Stable USB data streaming with <1% packet loss
5. **Data Integrity**: Complete path tracking with <1% data loss 5. **Network Stability**: Automatic anchor discovery and handoff without interruption
6. **User Experience**: Simple web interface for path visualization 6. **AT Command Compatibility**: Full UWBHelper library integration with webapp
*Last Updated: 2025-01-19*
*Version: 1.0*